Vision-based automatic welding guidance technology plays an essential role in robotic welding. A laser vision sensor (LVS) relies on manual intervention to guide the robot when near the workpiece, which reduces the autonomy of the welding robot and productivity. To solve this problem, a robot welding guidance system based on an improved YOLOv5 algorithm with a RealSense Depth Camera was proposed. A coordinate attention (CA) module was embedded in the original YOLOv5 algorithm to improve the accuracy of weld groove detection. The center of the predicted frame of the weld groove in the pixel plane was combined with the depth information acquired by a RealSense depth camera to calculate the actual position of the weld groove. Subsequently, the robot was guided to approach and move over the workpiece. Then, the LVS was used to guide the welding torch installed at the end of the robot to move along the centerline of the weld groove and complete welding tasks. The feasibility of the proposed method was verified by experiments. The maximum error was 2.9 mm in guiding experiments conducted with a distance of 300 mm between the depth camera and the workpiece. The percentage error was within 2% in guidance experiments conducted with distances from 0.3 to 2 m. The system combines the advantages of the depth camera for accurate positioning within a large field and the LVS for high accuracy. Once the position of the weld groove of the workpiece to be welded has been determined, the LVS combined with the robot can easily track the weld groove and realize the welding operation without manual intervention.

High-entropy alloys have garnered significant attention due to their unique composition and exceptional properties. Additive manufacturing technology, with its distinctive processing methods, offers new options for the fabrication of high-entropy alloys. However, due to the diversity of high-entropy alloys and additive manufacturing technologies, it is imperative to provide a comprehensive overview of the high-entropy alloys produced using various additive manufacturing methods. This paper presents a summary of the microstructure, mechanical properties, and corrosion resistance of high-entropy alloys fabricated using different additive manufacturing techniques. This paper initially reviews the impact of various additive manufacturing process parameters and the influence of different elements on the microstructure of additively manufactured high-entropy alloys. Subsequently, it discusses the effects of different additive manufacturing techniques on mechanical properties and summarizes four strengthening mechanisms in additively manufactured high-entropy alloys. Additionally, the corrosion resistance of various additively manufactured high-entropy alloys is summarized. Finally, based on the review of additively manufactured high entropy alloys presented in this paper, the current challenges and future research directions are proposed.

Duplex stainless steel welded metals were underwater local dry prepared on S32101 lean duplex stainless steel trapezoidal groove plates with a self-made drain cover employing Supercore 2205P flux-cored filler wire. Different heat inputs were employed to investigate the effects on mechanical characteristics and the microstructure of welded metals. The results demonstrated that as the heat was applied, austenite concentrations in the weld metals increased. It was found that the austenite concentration and the fraction of Σ3-austenite twin-grain boundaries followed the same trends. With increasing heat input, the recrystallized ferrite and austenite grains initially decreased and subsequently increased, whereas the fraction of interphase boundaries between special ferrite and austenite exhibited the reverse trend. With a heat input of 1.4 kJ/mm, the toughness and plasticity of the weld metals were enhanced by an increase in austenite content, Σ3 recrystallized grains, and austenite twin-grain boundaries. The plasticity and tensile strength values of the welded metal changed more when the heat input was raised from 1.0 to 1.2 kJ/mm than when it was raised from 1.2 to 1.4 kJ/mm. Considering energy conservation, it is recommended to adopt 1.2 kJ/mm for welding heat input.

Welding polarity has influence on welding stability to some extent, but the specific relationship between welding polarity and weld quality has not been found, especially under the hyperbaric environment. Based on a hyperbaric dry welding experiment system, gas metal arc welding(GMAW) experiments with direct current electrode positive(DCEP) and direct current electrode negative(DCEN) operations are carried out under the ambient pressures of 0.1 MPa, 0.4 MPa, 0.7 MPa and 1.0 MPa to find the influence rule of different welding polarities on welding spatters and weld bead geometry. The effects of welding polarities on the weld bead geometry such as the reinforcement, the weld width and the penetration are discussed. The experimental results show that the welding spatters gradually grow in quantity and size for GMAW with DCEP, while GMAW with DCEN can produce fewer spatters comparatively with the increase of the ambient pressure. Compared with DCEP, the welding current and arc voltage waveforms for DCEN is more stable and the distribution of welding current probability density for DCEN is more concentrated under the hyperbaric environment. When the ambient pressure is increased from 0.1 MPa to 1.0 MPa, the effects of welding polarities on the reinforcement, the weld width and the penetration are as follows: an increase of 0.8 mm for the weld reinforcement is produced by GMAW with DCEN and 1.3 mm by GMAW with DCEP, a decrease of 7.2 mm for the weld width is produced by DCEN and 6.1 mm by DCEP; and an increase of 3.9 mm for the penetration is produced by DCEN and 1.9 mm by DCEP. The proposed research indicates that the desirable stability in the welding procedure can be achieved by GMAW with DCEN operation under the hyperbaric environment.

Expandable profile liner(EPL) is a promising new oil well casing cementing technique, and welding is a major EPLs connection technology. Connection of EPL is still in the stage of manual welding so far, automatic welding technology is a hotspot of EPL which is one of the key technologies to be solved. A robot for automatic welding of “8” type EPL is studied. Four quadrants of mathematical equations of the 8-shaped cross-section track of EPL, consisting of multiple arcs, are established. Mechanism program for complex cross-section welding of EPL based on angle detection is proposed according to characteristics of small size, small valleys, and large forming errors, etc. A welding velocity vector control model is established by linkage control of a welding vehicle, a small driven actuator, and a height tracking mechanism. A constant speed control model based on an angle and symmetrical analysis model of rectangular coordinate system for EPL is built. Constraint conditions of constant speed control between each section are analyzed with 4 sections in first quadrant as an example, and cooperation work mechanism of the welding vehicle and the small tracking actuator is established based on pressure detection. The constant speed control model using angle self-test can be used to avoid the need for a precise mathematical model for tracking control and to adapt manufacture and installation deviation of EPL workpiece. The model is able to solve constant speed and trajectory tracking problems of EPL cross-section welding. EPL seams welded by the studied robot are good in appearance, and non-destructive testing(NDT) shows the seams are good in quality with no welding defects. Bulge tests show that the maximum pressure of welded EPL is 35 MPa, which can fulfill expansion performance requirements.